Two Reaction Theory of Synchronous Machines

Generalized Method of Analysis-Part I

BY R. H. PARK*
Associate, A. I. E. E.

Synopsis.-Starting with the basic assumption of no saturation
or hysteresis, and with distribution of armature phase m. m. f.
effectively sinusoidal as far as regards phenomena dependent upon
rotor position, general formulas are developed for current, voltage,
power, and torque under steady and transient load conditions.
Special detailed formulas are also developed which permit the
determination of current and torque on three-phase short circuit,
during starting, and when only small deviations from an average
operating angle are involved.
In addition, new and more accurate equivalent circuits are
developed for synchronous and asynchronous machines operating
in parallel, and the domain of validity of such circuits is established.
Throughout, the treatment has been generalized to include salient
poles and an arbitrary number of rotor circuits. The analy-
sis is thus adapted to machines equipped with field pole collars,
or with amortisseur windings of any arbitrary construction.
It is proposed to continue the analysis in a subsequent paper.
* * * * *

T HIS paper presents a generalization and extension ia, ib, i, = per unit instantaneous phase currents
of the work of Blondel, Dreyfus, and Doherty eay eby e, = per unit instantaneous phase voltages
and Nickle, and establishes new and general *a, 'rb, V1 = per unit instantaneous phase linkages
methods of calculating current power and torque in
salient and non-salient pole synchronous mac hines,
under both transient and steady load conditions. d
Attention is restricted to symmetrical three-phaset P dt
machines with field structure symmetrical about Then there is
the axes of the field winding and interpolar space,
but salient poles and an arbitrary number of rotorl ea P 1a-r
ea=nthereri
circuits is considered. eb = P 4'b-r 'ib
Idealization is resorted to, to the extent that satura- e, = p Vlc - r i(1)
tion and hysteresis in every magnetic circuit and eddy It has been shown previously' that
Axis of Phase a 21a Id COS 6- Iq sin 0
X
0~__ Xd +Xq ib___i
~~~~~~~~~~~~~~~[ia
+ ib + icl -
[3+b+c a-
1

D \ \ - 33
[

2 J

Direction of
Rotatiion Xf - Xq [ia cos 2 0+ ib Cos (2 6 - 120)
3
+ i, cos (2 6 + 120)]
Quadrature Axis \1b Id cos (6- 120)- Iq sin (6- 120)
Axis of Phase b xis of Phase c ia + ib +ib Xd +2 xq i] ic + ia_
FIG. 1 Xd- Xq
d 3 q[a COS (2 0 - 120) + ib COS (2 0 + 120)
currents in the armature iron are neglected, and in
the assumption that, as far as concerns effects depend- + i, cos 2 0] (2)
ing on the position of the rotor, each armature winding I = Id cos (6 + 120)
may be regarded as, in effect, sinusoidally distributed.3
A. Fundamental Circuit Equations -Iq sin (6 + 120) -xo
ia + ib + ic
Consider the ideal synchronous machine of Fig. 1,
and let Xd + X, - a+i
*General Engg. Dept., General Electric Company, Schenec- - 3 I C- 9 J
tady, N. Y.L
tSingle-phase machines may be regarded as three-phase xd - zX o 26-- 2)±1 o
machines with one phase open circuited. _ 3 [aCs( 2)+i O
tStator for a machine with stationary field structure.3
3For numbered references see Bibliography.
Presented at the Winter Convention of the A. I. E. E., New York, + i.c os (2 6 - 120)]
N. Y., Jan. 28-Feb. i, 1929. where,
716

29-33
July 1929 PARK: SYNCHRONOUS MACHINES 717

Id = per-unit excitation in direct axis If there is one additional rotor circuit in the direct
I, = per-unit excitation in quadrature axis axis there is,
Xd = direct synchronous reactance E-I
x, = quadraturesynchronousreactance I = I + Xf lId - (Xd -Xd) id To p
x0 = zero phase-sequence reactance
As shown in the Appendix, if normal linkages in -Ild
the field circuit are defined as those obtaining at no Fld = Xlld Ild + Xfld I -Xmi d id = To
load* there is in the case of no rotor circuits in the
direct axis in addition to the field, which gives,
4) = per-unit instantaneous field linkages [Xlld - Xfld] Told P + 1
= I- (Xd - Xd') id G (p) A (p)
where,
I = per-unit instantaneous field current To Told [Xlld (Xd - Xd') - Xfld Xmldl p2
2 + [(Xd X'd) Told + Xmld To] P
id = 3 Iia cos 0 + ib cos (O - 120) + i cos (f9 + 120)1 Xd (p) XXd A (p)
(3) where,
On the other hand, if n additional rotor circuits A (p)=[XI1d-X.fXd21 To Told p2+[Xlld To+Told] P+I
exist in the direct axis there is, If there is more than one additional rotor circuit the
4) = I + XfId Ild + Xf2d I2d operators G (p) and Xd (p) will be more complicated but
+ . . + Xfnd 'nd - (Xd - Xd') id may be found in the same way. The effects of external
where, field resistance may be found by changing the term I
Ild, I2d, etc., are the per-unit instantaneous cur- in the field voltage equation to R I. Open circuited
rents in circuits 1, 2, etc., of the direct axis, Xf1Id, Xf2d, field corresponds to R equal to infinity.
. etc., are per-unit mutual coefficients between the Similarly, there will be
field and circuits 1, 2, etc., of the direct axis. Iq = [Xq - Xq (p)] iq (5)
Similar relations exist for the linkages in each of the where,
additional rotor circuits except Xd - Xd' is to be replaced 2
by a term xm. However, since all of these additional i, =- ia sin 0 +ib sin(6- 120) +i, sin(6 +120) } (3a)
circuits are closed, it follows that there is an operational
result Xq (o) = Xq, X ( ) =q
Id I + Ild + I2d +
= . + Ind So far, 10 equations have been established relating
= G (p) E + H (P) id (4) the 15 quantities ea, eb, e,, ta, ib ,I 4'aya tby ,t'c lid, iqy
where E is the per-unit value of the instantaneous field Id, I, E, 0 in a general way. It follows that when
voltage, and G (p) and H (p) are operators such that any five of the quantities are known the remaining 10
G (o) = 1 G (co) = 0 may be determined. Their determination is very
H (o) = 0 H (co) = Xd-Xd" much facilitated, however, by the introduction of
Xd' the subtransient reactance2
= certain i'o
auxiliary quantities ed, e, eoy 'Pd, aqV 4/0'
It will be convenient to write H (p) = Xd Xd (p) Thus let
and to rewrite (4) in the form,1
to lia+ ib + ic) (3b)
Id = G (p) E + [Xd-Xd (P)] id (4a) i 3{ia+tb±%}
If there are no additional rotor circuits, there is, as 2
shown in Appendix I, ed= {eacos 0 + ebcos (o- 120) + e,cos (6 + 120)1
'I = I - (Xd - Xd') id
E = To pT +I 2
where To is the open circuit time constant of the field e - f{ea sin 6+eb sin(0-120)+e, sin(0+120)1 (6)
in radians.
There is then, 1
1 eO = 3j { ea + e?b + e~}
- G (p) T= -H
2
XdTo p +Xd )/d=3 {'{a COS 6+Pb cOs (6-120)±+Pcc9s (0+ 120)}

*Thjs definition is somewhat different from that given in 'Pq =-

reference 2.
{ 'P sin O+'Ib sin (--120) +'Pc sin(60+1l20) } (7)
718 PARK: SYNCHRONOUS MACHINES Transactions A. I. E. E.

1 eb = ed coS(6-120) - eq sin (6-120) + eO (16)

A0 { i/a + Ab + 0J' ec = ed cos (6+ 120)-eq sin (6 + 120) + eo
Referring to Fig. 2, it may be seen that when there
then from Equation (1) there is are no zero quantities, that is, when eo = i/0 = io = 0,
2 the phase quantities may be regarded as the projection
ed= 3{cos 6r la+co5(6-120) p i/4+cos(6+120) P i/} of vectors e, i/i, and i on axes lagging the direct axis by
- rid Axis of Phase b
2
eq=-3 {sin6p a+ sin (6- 120) pi/b\ e eq Direct Axis
+ sin (6 + 120) p J}r
i- \ / ed
i-
eo= p io-/ r
but,
2 Axis of Phase a
Pi d = I{COS 0 Pia + COS (6- 120) p ib/
+ cos (6 + 120) p i/'}/
2
-u {sin 0 i/2a+sin(- 120) p ib+sin(0+120) p i/J} p 6
ed + ri2d + /lq pGO Axis of Phase c
FIG. 2
2
p l =- I{sin 0 p i/a + sin (6 - 120) p Vlb angles 0, 0 - 120 and 0 + 120, where taking the direct
axis as the axis of reals,
+ sin(f +120) pi/} e =e+Jje0
-3co6O 'Pa + COS (6- 120) 'Pb + cos (6 +120) V;Jp 6 =id41d +Ji
= + j ?,q
q

eq + riq - i/d P 6 If we introduce in addition the vector quantity,

hence there is I = Id +j Iq
ed = P Od-r id-/q p ° (8) the circuit equations previously obtained may be
eq=p'pq-riq+i/ dpd (9)
eo io = pi/-r (10) lpIXiW
Also it may be readily verified that
i/d = Id- Xd id = G (p) E- Xd (P)d (11)/
iq = I-Xq iq = - Xq (p) iq (12)
ii0 = - Xoio (13)
Equations (8) to (13) establish six reelatively simple
relations between the 11 quantities ed, e., eo, id, iqy i0, irectAxis
i/d, i'q, i/, E, 0. In practise it is usually possible to xi d
determine five of these quantities directly from the termi- p
nal conditions, after which the remaining six may be
calculated with relative simplicity, After the direct, r
quadrature, and zero quantities are known the phase FIG. 3
quantities may be determined from the identical
relations
'ta ='td cos G-iq sinG0+ io transferred into the corresponding vector forms,
ib= td COS(0- 120)- i0zsin (6- 120) + io (14) e = pi/i=ri +[p0] ji/i
iC= id COS (6 + 120)-iq sin (6 + 120) + io _o = Ix
{Pa = Pd cos 60-Pqsin 6 + {0 where, zi =XZdid+ jXqiq
lAb = i/d cos (6 -120) - 'P sin (60-120) + {0 (15) BFig. 3 shows these relations graphically.
C= 'Pd COS (6 + 120)- i/q sin (6 + 120) + 'Ps The per-unit instantaneous power output from the
e= ed cos 60-eq sin 6 + e5 armature is necessarily proportional to the sum
July 1929 PARK: SYNCHRONOUS MACHINES 719

ea ia + eb ib + e, i. By consideration of any instant D. Constant Rotor Speed

during normal operation at unity power factor it may Suppose that the constant slip of the rotor is s.
be seen that the factor of proportionality must be 2/3. Then there is,
That is, ed = P ld-rid- (1-S) 'q
P = per-unit instantaneous power output eq =p V1,q-r iq + (1-s) {d
= 2/3 { ea ia + eb ib + e,i, } but, 4I'd = G (p) E-Xd (p) id
Substituting from Equations (14) and (16) there q = -xq (p) iq
results the useful relation, Putting p Xd (p) + r = Zd (P)
P = edid + eqiq + eO i0 (17) PXq (p) + r = zq (p)
C. Electrical Torque on Rotor there is
It is possible to determine the electrical torque
on the rotor directly from the general relation, e = p G (p) E -Zd (p) Pd + (1-s) Xq (p) iq (20)
{Total power output} = eq = (1-s) [G (p) E-Xd (p) idl-Zq (p) iq (21)
{mechanical power transferred across gap} Solving gives,
+ {rate of decrease of total stored magnetic energy}
- {total ohmic losses} (18)
id = {[sZq (p) ± (1x-)2
Xq (p)] C (p) E-Zq (p) ed
-(1-s) xq (p) eq } . D (p) (22)
However, since this torque depends uniquely only
on the magnitudes of the currents in every circuit of
i-
q
(1-s) r G (p) E-2d (p) eq - (1-s) Xd (p) ed
D (p)
the machine, it follows that a general formula for torque (23)
may be derived by considering any special case in which
arbitrary conditions are imposed as to the way in which where, D (p) Zd (p) 2q (P) + (1 - S)2 Xd (p) Xq (p)
these currents are changing as the rotor moves. E. Two Machines Connected Together
The simplest conditions to impose are that Id, Iq, Suppose that two machines which we will designate
id, iq, and io remain constant as the rotor moves. In respectively by the subscripts g and h, are connected
this case there will be no change in the stored magnetic together, but not to any other machines or circuits,
energy of the machine as the rotor moves, and the and assume in addition that there are no zero quantities.
power output of the rotor will be just equal in magni- In this case the voltages of each machine will be equal
tude and opposite in sign to the rotor losses. It follows
that under the special conditions assumed, Equation Axis Phase b
(18) becomes simply, Direct Axis of
{armature power output} = gq g Machine
{mechanical power across gap} - {armature losses} e
egd Direct Axis of
or, P = T p 0-
2r
{a2+
2 r
ib2 + ic2}oh
\ / Xogvh~~~~~~~~~~~~
Machine

Axis Phase a
= Tp G- r { id2 + ig2 + i2 }hd
Then,
T = per-unit instantaneous electrical torque
ji2}q
ed id + eqiq + eO io + r {td2 ± iq2 ±
pO /
but subject to the conditions imposed, Axis Phase c
FIG. 4
ed= -
p 0G - rid
e, Ad PO0-r iq
=
eo = r io phase for phase, and it therefore follows that the voltage
vectors of each machine must coincide, as shown in
It therefore follows that, Fig. 4.
T = q Atd - id (6q (19) Referring to the figure it will be seen that the direct
= vector product of s6 and z and quadrature components of voltage of the two
= if X i (19a) machines are subject to the mutual relations,
a result which could have been established directly by ehd = e,d cos 6- eq sin 6
physical reasoning. Formula (19) is employed by ehql = e7d sinA + egq, cos 6 (24)
Dreyfus in his treatment of self-excited oscillations of e0d = ehd cos 6 + ehq sin 6
synchronous machines.'4 eg,q = -ehd sin 6 + ehqcos a (25)
720 PARK: SYNCHRONOUS MACHINES Transactions A. I. E. E.

On the other hand, for currents there will be Xd' To p + Xd

ihd - - {i%d COS 6- igq sin ±} Top + 1 Xq
ihq = - {igdsin 6 + iq cos5} (26) Xd Xq To P3
igd = - [ihd COS 6 + ihq sin 6} + [Xd r To + (Xd + r To) Xj p2
igq = -

F. One Machine on an Infinite Bus

6 I-ihdsin
COS }
(27) ihq + [r (Xd + (d++ To) X q
To] p
[ rT+ Xd 'XT
In (E), if machine h has zero impedance, it follows + r2 + Xd Xq
from (20) and (21) that ehd = 0, ehq = bus voltage To p + 1
say = e. d (p)&
Then for machine g there is, (31)
ed = e sin 6 Top-Fl
eq = e cos 6 (28) By the expansion theorem there is, finally,
G. Torque Angle Relations Xq E
From Equations (11), (12), and (19), there is, 1d = + Xd Xq
r2

T
Xq Xd Xd Xq
d q
+
Xd(Toa,+ 1) ((Zqan + r) ed_ + X.eq_)
a, d' (a,)
Then if the rotor leads the vector s6, by an angle 8 1
there is rE
4tq --J,sin6
6
1q r2 + Xd X,
d = COS 1
Iq ' Id sin 6
Xd - 1
8 (29) (q
Xd' To a .2 + (Xd +-r To) a,, + r)eqo- (To an X d + Xd) edO
T= Xq
cos 6 +
Xd
+F
2Xd Xq
i/'2sin 2 a, d' (a,,)
E--ant (32)
A derivation of this formula for steady load con- end (32)
ditions has been previously given by Doherty and where the summation is extended over the roots of
Nickle.9 d
H. Three-Phase Short Circuit with Constant Rotor Speed d (a) = 0 and d' (P) = dp d (p)
Maintained
Since a three-phase short circuit causes ed and eq The phase currents may, of course, be found from
to vanish suddenly, its effect with constant rotor speed -0.0018
maintained may be found by impressing ed = - edo,
eq = - ego in (22) and (23) where edo and eqo are the -0.0016
values of ed and e, before the short circuit. The initial -0.0014
currents existing before the short circuit must be
added to the currents found in this way in order to -0.0012-- Values of o~
obtain the resultant current after the short circuit. -0.0010-
With s = 0 and E constant there is in detail.I
Zq (p) edo + XQ (p) eq o xq E - r edo- xq eqo -0.0008
D (p) r2 + Xd xq -0.0006-_
Zd (p) eqO- Xd (p) edO r E - r eqo + Xd edO -00004A
iq -
D (p)
1
r2 + xdxq -0.0002-
(30)I 0.5 1.0 1.5 2.0 2.5 3.0
The working out of the formulas may be illustrated Values of r
by consideration of the simple case of a machine with FIG. 5
no rotor circuits in addition to the field. In this case Equations (32) by the application of Equations (14).
there is For the particular case
X0 (p) = xqTo = 2,000, Xd = 1.00, Xq 0.60, Xd' = 0.30
_Xd' T0 p +1 Xd the roots a1,o a2, a3 of the equation d (p) = 0, were
Xd P To p +F 1 found to be as shown in Figs. 5, 6, and 7, where
ag2
+F ab = aa

D(P) = < T0 p +F 1 I t wxill be noted that, as wounldl necesar^lyr be the

July 1929 PARK: SYNCHRONOUS MACHINES 721
case, where r = 0, a, is equal to the reciprocal of the
short circuit time constant of the machine, i. e., for ° = 2 - s t, and referring to Equation (28),
r = 0,
Xd 1 e4=cosst
a,1 -- ' T -0.001667 eq sins t =

If we now introduce a system of vectors rotating

while for r = O at s per-unit angular velocity there is
a1= 1l
=-0.000500
T0TO T
- =- -0.000500 e
ed = 1.0
e,=-
p ijs (33)
-8 Then from (22) and (23),
-7; /td = { X (jS) + r-j (1- s) x, (js) }
-6-/ {['sI d(is) + r] [Usxq (js) + r]
+ (1 - )2 Xd (j S) Xq (j) }
-5- ~ j (1-2 s)
1 xq (i s)- r
-4 lVaues of cor r2 + (1-2 s) Xd'(j S) xq'(j s) +j s r[Xd'C( S) +X,'(j S)]

-1
-2 (+
Xd )S) Xq S)
/ { 2

o k
0 0.5 1.0 1.5 2.0 2.5 3.0 J- 2
+12r j S d 1S) + Xq (j
[r (j
i(
§X
[ (
)34
Values of r
FIG. 6 [jS Xd (j S)
r] (- j) - (1- s) Xd (j s)
+

The root aa is found to be almost exactly equal to q r2A+(1-2 s) Xd (i S)Xq (i s)A+j s r[xd (js ) +AXq (js)]
the value which it would have were To = c, i. e.,
r (Xd' + Xq) Xd ( S)
- 2s
+ { Xd ( ) Xq s)
aa = 2xd' x approximately {
r1
+1 2s [r +j-s (Xd (jS) + Xq (js)) (35)
x,, 1.0
'70V
>0.6 - of o(b
Values of
The expressions for average power and torque then
C).4 - \become,
E = 1/2 [ed id + eq.. i
Pa0
0.2- 1 \ 2 3 = 1/2 [iq. l'd- id {jq]
Tav
064 t \where the dot indicates the scalar product, or
0.8 - \Pav = 1/2 [1 . id- j *iq]
_
i 1.4-- \:alues of r
-.2- ~ \ = 1/2 [Real of id -Imaginary of iq]
There is in general,
(36)
1.6-
1.8- - \ ed + rtd = P4'd
(1d - S) /q
2.2
\
eq + r q = (1-s) l/'d + P 4I'
2.4
FIG. 7 ed + r id - (1 - s)
e+riq
eq p
Thus, in the special case considered this approximate &d e A-1 s)
formula gives (1-s) P
(0.30 A- 0.60) r_
= 2 XO.@30 X 0.60 -*0 p (ed A- rid) A- (1- s) (q A- r i,,) (7

which checks the result found by the exact solution i -(

of the cubic. p(e,, A- r iq)-(1- s) (ed A- r id)
I. Starting Torque )1/ = 2 1S2(38)
On infinite bus and with slip s, there will be, choosing P' -(
722 PARK: SYNCHRONOUS MACHINES Transactions A. I. E. E.

j s (ed + r ?td) + (1- s) (eq ± r iq) -j .i It follows that the vector amounts of forward
41d = 1-
1 2
2s1 and backward m. m. f. or current are

j s (eq + r iq)- (1- s) (ed + rid) forward current = = 2

2f (ic +i q)
Y'2 1-2 s
with ed = 1.0, eq = j- backward current = ib =2 (id j iq) (42)
js +jsrid + (1- s) (-j) + (1- s) r iq
Wd 1-2s If we define by analogy,
-(1- 2s) j + r [ S id + (1-s) iq] forward voltage = 2 (ed + j eq)
1- 2s

-i + 1- 2 [jsid + (1-s) i]q (39) backward voltage = 2 (ed-jel) (43)

j s (-j + r iq) - (1- s) - r (1-s) id There is,
= 1- 2s 1 { -2r )

-(1 - 2s) + r[jsiq- (1-s) id]

Xd (js) X s) + 12(r + js [Xd Q s)
r
=r+
1 2 s1i-2 (1 S) id] (40) r
+ Xq (iS)]) }
Thus,
pi~~
~~ --i
2 s(is +( )i)| ib =2 i[xq (j s) -Xd (j s)] ;. Xd (i s) z' (i s
Tav=1/2 r
- id (1) id -js is (l (1 S)i) r

r (1 - s) (iq2 + id2)-
=Pav+2(1 2 s)
L+25stq id
1
ef
eb =0
= 1.0 (44)
(45)
d

pa r (iq2 2) + r s [ d] PaV = ef . if = real of if (46)

Pa, rq2+id
=Pav +r 2
±

+iiid)2
~ 7Tav Pav +
rijf2 + 1-2si2 (47)
+
2(1-2 s) (iq
221-2 (41)
J. Zero Armature Resistance, One Machine Connected
Mr. Ralph Hammar, who has been engaged in the to an Infinite Bus
application of the general method of calculation out- Assume that a machine of negligible armature
lined above, to the predetermination of the starting resistance is operating from an infinite bus of per-unit
torque of practical synchronous motors, has suggested voltage e, at synchronous speed, with a steady excita-
an interesting modification of formulas (36) and (41), tion voltage Eo, and displacement angle 8o. At the
based upon the fact that, since the total m. m. f. con- instant t = 0, let a and E change.
sists of direct and quadrature components pulsating at There is,
slip frequency, it may be resolved into two components, 1 G
one moving forward at a per-unit speed 1-s+s=1.0, E- AdO 1G+ () A
and the other moving backward at a per-unit speed Xdi Xd (P) Xd (P)
1- s -s = 1 -2 s. Thus from this standpoint half
of both the direct and quadrature components will move t __ qO 1 ,
forward, and half backward. Since the quadrature 1' Xq -Xq (p)
axis is ahead of the direct it follows that as far as con- Ad = e cos 8
cerns the for-ward component the quadrature current iq ~ i
is equivalent to a d-c. j iq, while as regards backward A - l
component it is equivalent to a direct component From which there is, by obvious re-arrangement,
July 1929 PARK: SYNCHRONOUS MACHINES 723

E- ecosa Xd (P) Xd - Xd"flau

id Xd + e Xd (Cos Cos° ) + e c Y adn Ead E sin 8 (u) 5 (u) dd u

Xd (p) - G(p) Xd AE -1 bn e t4' En A E (u) d u (48a)

Xd Xd (P) Xd 0°

e sina5 X(? Xq (P) e sin a

= e +e x (P))-e (sina- sin8o) (48) iq
Xq XrjXq Xq
Then,
tLqnICi
Xq Xq"
-

E e sin a Xd-Xq -F+ e -, a.,

a
J naqu cos 5 (u) a' (u) d u
E
T ~~+22 Xd X1e2
Xd X,i sin 2a Xq X, 0

Eesin6 e2(xd-Xq)
sin 28
(p) T+
e2cosa Xq XqXq (P) (sin
Xq -
+ a- sin0o) (49) Xd 2Xd Xq

+ e2 sin a Xd - Xd (p) ) - a) +e2 Xd Xd sin 32adn E-adnI eadnu sin 8(u) &'(u) du
Xd Xd (p) (co
e sin , d(p ea8Cos()o')
(P).E+2zc'Cos6
ag0_gt Xd X
Xdinx(P)XdXd-XdG
(P)
(p) AE-e
Xqe2 Xqt saUZ
qrE
aq azqntf ECqucs5()5()d
But quantities adn aqn, ad, aqqn bn,,, [,, may be found
such that- e sina bnbE1
,, 4'r- A E' (u) d u (49a)
Xq Xq (p) Xq Xqt cxd t
Xq(p) Xq- X e Formula (49a) may be used to determine starting
torque and current with zero armature resistance, by
(50) introducing a (t) = s t, a' (t) = s. Thus the average
Xd - Xd (p) Xd -Xdfl at component of torque is found to be,
*
1 ~~~~~ a,2n E-qn,
Xd (Y} Xd I Xd- Xd a adn S
Tav =2 Xd Xd' adn adn2 + S2
Xd (p)-XdG(P) - ad- 6F-nt
Xd (p) 1= b,En 1 Xq Xq"_ a~(qn S
Xif Xq ()+ 2 Xq Xq
y a0qn aq 2 + s2 (52)
Xd"=Xd (cx) Since
aso
E ad,, 1.0
=
adn = 1.0 - s2 is never greater than 1 2^ and
as2

1.0 bn = E adn = aqn = 1.0

It therefore follows from the operational rule that, it follows that Tav is never greater than

J (p) F (t) = F (o) 4 (t) +-Ff) (t- u) F' (u) d u (51) 1 Xd Xd Xq, Xq"
0 4 Xd Xd -Ft Xq Xq" 53

where, Equation (53) thus provides a very simple criterion

4 (t) = f (P) . 1
of the maximum possible starting torque of a syn-
that if chronous motor of given dimensions, when armature
a = a (t) resistance is neglected.
a'
p a = (t) The same formula may also be used to obtain
A E = A\ E (t) a- simple expression for the damping and synchronizing
p A\ E = A\ E' (t) components of pulsating torque due to a given small
Equations (48) and (49) may be rewritten in the form, angular pulsation of the rotor.
E 8- ecos cosangular
if the a /\ pulsation iS (s t) ~~~Thus
and if the punlscation6~~~~Aof torquel
E-e = [Ab] sin
- Xd is! expresose in the form
724 PARK: SYNCHRONOUS MACHINES Transactions A. I. E. E.

d Xq -Xq"- anq p
'A T = TsA6±+ Td dt A + , e2 cos sin

there results,
d t

~~~~~~~~XqXq'p+al
Therefore in the case under consideration there is
Xd - Xd" adn 82 for machine a,
T= Tso ± e2 sin20 X 2 (cd )2 + s2 T = eIa (Xda - Xqa)
IXda ±e Xda Xqa J6
+ elcs6 Xq (54) P
+ 2 Ea

Xqll aqn 2S - Xqa

eqa
X
XqXq" ~~~
(a~~n)2 + 82

+Xqa
2
nqa p + anqa .6a (55)

S sTd=e2in26oXd
Td= e2sin2 -Xd'
Xd Xd"
ad,
(ad
scadn
n+ 82 where: e per-unit bus voltage
-
per-unit excitation of machine a, etc.
Ia =
+el cos2 o Xq - Xq"
+ e2 COS2 6 Xq Xq Pt
aqns8 cqn This equation can be represented by Fig. 8, in which
(aq,)2 + s2 the charge through the circuit represents (da) and the
where, Rla R2a Rna

-
eIdO COS60
c +± e2 (Xd Xq) cos 2 6o Co i C -a-Cn
X,j ~~Xd XqCl C2Cn
bo = average angular displacement, i. e., total FIG. 8
angle = 6 = 5o + A 6.
It can be shown that for the case of no additional voltage across the circuit represents the electrical
rotor circuits, Equations (54) are exactly equivalent to torque of the machine (Ta).
Equations (24) and (25) in Doherty and Nickle's paper, The capacitances and resistances must be chosen
Synchronous Machines III. The new formulas herein so that
developed are, however, very much simpler in form, Xda Xqa
especially since in the case which Doherty and Nickle Coa e Ia Xqa + e2 (Xda Xqa)
have treated, there is only one term in the summation;
that is, n = 1, and a is merely the reciprocal of the short Xqa Xqa"
circuit time constant of the machine, expressed in Cna e2anQa (Xqa-Xqa")
radians.
K. The Equivalent Circuit of Synchronous Machines 1
Operating in Parallel at No Load, Neglecting the na
Cna anqa
Effect of Armature Resistance
The equation for the mechanical torque is
Let, ba = angle of rotor a and bus Tsa Ta ± MaPSa (57)
Oo = angle of rotor a in space where:
In general, the shaft torque of a machine depends Ma = inertia factor of machine a in radians
on its acceleration and speed in space, and the magni-
tude and rate of change of the bus voltage as a vector. 2_X_stored_mech._energy_at_normal_spee
If all of the machines are operating at no load and if base power
there is no armature resistance, a small displacement
of any one machine will change the magnitude of the 0.462 W R2 (rev, per mm.
bus voltage only by a second order quantity; conse- -2 r f 1000 /
quently for small displacements the magnitude of the base kw.
bus voltage may be regarded as fixed, and only the
angle of the bus and rotor need be considered. Further- 5a per-unit speed of machine a
more, the electrical torque may be found in terms t time in seconds d
of (6) by employing an infinite bus formula. But = dt J
Equation (49a) implies the alternative general opera- But, 5a = p Ga
tional form,
~ ~ ~ ~ Thus there is
T =e Idosin
Xd
6
++e2(Xd-2 Xq) sin26
Xd Xq
Tsa = Ga Ta+±Map2(57a)
which corresponds to the equivalent circuit of Fig. 9,
,, ~~~~~~~in
which change - Ga
Xdd'P The machine opeoratingr on axn infinite bus can be
July 1929 PARK: SYNCHRONOUS MACHINES 725

represented by the equivalent circuit of Fig. 10, since in the inductive branch of the circuit. Thus a gover-
the condition nor which acts through a single time constant may be
Oa = fa = 0 represented by the circuit of Fig. 14, where
is fulfilled.
Several machines in parallel on the same bus may be CRa Rna
Cob

La Tsa Lb Tsb
La
FIG. 11
Ta

Tsa

FIG. 9
C
represented by the diagram of Fig. 11, since the con- FIG. 12
ditions
Oa -ba = Ob = . . . (= bus angle in space)
Ta + Tb + TC, etc. = bus power output = 0
A transmission line may be represented by a,
condenser.
Thus two machines connected by a line of reactance L
(x) would be represented by the circuit of Fig. 12, where
x
C= e2 (58) R
Shaft torques are, of course, represented by voltages.
Tsa
Coa
FIG. 13
Sa POa La
Cia
Ta

Cna I

FIG. 10

Mechanical damping, such as that due to a fan on a FIG. 14

motor shaft or that due to the prime mover, is repre-
sented by resistance in series with the inductance (L) 1L
as in Fig. 13. (R) must be chosen equal to the rate R=regulation
of decrease in available driving torque with increase
in speed. time constant of governor in elec. radians
Governors and other prime mover characteristics Cg = R(9
may also be represented by connecting their circuits Rg(9
726 PARK: SYNCHRONOUS MACHINES Transactions A. I. E. E.

An induction motor is represented by the simple circuit A iq =

of Fig. 15 and is precisely the circuit of a synchronous
machine with only one time constant and C = on
Zd (p) (-A eq + 4'dO p 6)-Xd (p) (-
D ()
ed - O0 P A 6)
account of I = 0.
Results similar to these have been previously shown where,
by Arnold, Nickle,10 and others, but simpler and more D (p) = Zd (p) Zq (P) + Xd (p) Xq (p)
approximate circuits were used, the branches of the but from Equations (28),
several circuits were not directly evaluated in terms of edo + A ed = e sin (6o + A 6)
machine constants, and the derivation was incomplete eqO +.,A eq = e cos (o + A 5)
in that the limitation to no load and zero resistance was
not appreciated. A ed = e cos 6o A 6
L. Torque Angle Relations of a Synchronous Machine A eq =- e sin 6o A 6 (62)
Connected to an Infinite Bus, for Small Angular A id =
Deviations from an Average Operating Angle -(e cos 6 + j'qp)Zq(p)±(e sino6 + IdOp)Xq(p)
There is, in general, Do .A6
T = To + A T = (4do + A'd) (iqO + A iq)
- (ido + A id) ('q00 + t'q) iq
For small angular deviations, (e sin 6o -+4dO p) Zd (p) +. (e cos 6o +1-0o P) Xd (P)
A T = iqO A 'ld + PdO A iq - idO A 41q - 'qO A id D (p) *A6
={dO + idO Xq (p) A ii- {{qO + iqo Xd(p)} A id (60) (63)
d (e sin 6 + ltdO P) Zd (P) }
[4ldO+idO Xq (p)] ¢
± (e cos 6o + VIqo P) Xd (P)
AT= (64)
{ (e cos 6o + 4'qO p) Zq (p)
L o + [4qO+iqO Xd (P)]
- (e sin 6o + 4'dO p) Xq (p)J
cC- I gR D(p)
say,
A T = f (p) . -A
From (57a) the equation for shaft torque becomes
A T, = (M p2+ f (p)).6
Thus,

A68 = M p2 + (p) .A T,
f (65)
Appendix
Formula for Linkages and Voltage in Field Circuit with
FIG. 15 no Additional Rotor Circuits
In this case the per-unit field linkages will depend
ed0+A\ ed=p A 'Pd-r(ido+A id>- ('Pq9+A 'q)(l+P A 6) linearly on the armature and field currents. That is,
eqo +,A eq =p A 'Pq-r(iqo+,A iq)(q)
+dO±d + A d) (l+P A 6) in general,
A ed= P A d -r A id- 'qO p A 6 A-'q =aI-
a bid
,A eq = p A V1P- r A iq + 'PdO P A 6 + A 'Pd Then if normal linkages are defined as those existing
from which there is at no load there must be a = 1.0.
Zd (p) A cid- Xq (p) A iq =- A ed - 'qo p A 6 The quantity b may be found by suddenly impressing
Zq (p) A iq + Xd (p) A id =- A eq + 'PdO p A 6 terminal linkages 'Pd with no initial currents in the
machines and E = 0.
A ~~~~~~ci = ~~~~~~~~By definition there is, initially
Zq (p)(- A\ed-q 'poo /6) + Xq (p)(- A eq + 'PdOP A 6)
D (p) id = 'Pd

(61) Xd
July 1929 PARK: SYNCHRONOUS MACHINES 727

but also there must be from the definition of Xd2 12. Dreyfus, L., "Ausgleichvorgange in der Symmetrischen
Mehrphasenmaschine," Elektrotech. u. Maschinenbau, 30 S 25,
I- d 121,139,1912.
13. Dreyfus, L., "Freie Magnetische Energie zwischen
Xd
Verketteten Mehrphasensystemen," Elektrotech u. Maschinenbau,
hence there must be an initial induced field current of 29 S. 891, 1911.
amount 14. Dreyfus, L., "Einfuhrung in die Theorie der Selbster-
Xd
regten Sehwingungen Synchroner Maschinen," Elektrotech. u.
I=
ld Xd' S. 323, 345, 1911.
Maschinenbau, 29 ________

But, initially the field linkages are zero, thus Diseussion

-FXd b H. C. Specht: I should think Mr. Park's theory could be
= Xd I + X' 0 applied just as well to the so-called synchronous induction
L Xd motor, that is an induction motor in which the rotor teeth
between the poles are cut out for a distance of about one-third
hence b = Xd - Xd' of the pole pitch. Such a motor runs at synchronous speed.
Similarly, there will be However, the pull-out torque is much less than that of an induc-
tion motor with the full number of teeth.
E per-unit field voltage
=
C. MacMillan: There was one statement in the first page
= c p I + dI of Mr. Park's paper to the effect that "Idealization is resorted
Normal field voltage will be here defined as those to, to the extent that saturation and hysteresis in every magnetic
This requires circuit and eddy currents in the armature iron are neglected.
existing
existing at
at no load and
no load normal voltage. This
and normal voltage. requires
And with regard to Fig. 5, Mr. Park remarked that it represented
. .

that d = 1. The quantity c may then be recognized a rigorous solution. Perhaps Mr. Park could give us a little more
as the time constant of the field in radians when the insight into the effect of taking into account saturation, and give
armature is open circuited, since with the field shorted other cases in which certain elements have been neglected with
under these conditions there is more or less effect upon the final results.
W. J. Lyon: In a paper of this description, certain premises
(To p + 1) I O0 should be chosen and, with these always in mind, the mathe-
cpT ± I = 0 matical development should be rigorous. The paper may then
= be criticized either because of insufficient premises or because
of incorrect mathematical development. I believe that the
c = To= time constant of field with armature former is the kinder method; it is the one I shall employ.
open circuited. The premises that Mr. Park chooses are that the field and
armature windings are symmetrical, that saturation and hystere-
Bibliography sis are neglected and that the armature windings are in effect
1. Doherty, R. E. and Nickle, C. A., Synchronous Machines sinusoidally distributed. I take this last to mean that the air-
V, A. I. E. E. Quarterly TRANS., Vol. 48, No. 2, April, 1929. gap flux due to the armature currents is sinusoidally distributed,
2. Park, R. H. and Robertson, B. L., The Reactance of for if the armature windings themselves were sinusoidally distrib-
Synchronous Machines, A. I. E. E. Quarterly TRANS., Vol. 47, uted, there would be produced space harmonics in the air-gap
No. 2, April, 1928, p. 514. flux distribution due to the saliency of the poles, which, as we all
3. Park, R. H., "Definition of an Ideal Synchronous know, would complicate the problem tremendously. In order
Machine and Formula for the Armature Flux Linkages," General that the mathematical method used by Mr. Park shall be rigor-
Elec. Rev., JuIne, 1928, Vol. 31, pp. 332-334. ous, I believe it is necessary to make one further assumption.
4. Alger, P. L., The Calculation of the Reactance of I think I can best explain this by asking you to consider the
Synchronous Machines, A. I. E. E. Quarterly TRANS., Vol. 47, result of supplying the field winding with a sinusoidal current
No. 2, April, 1928, p. 493. while the armature rotates at some speed which may be called
5. Doherty, R. E. and Nickle, C. A., Synchronous synchronous. Under these conditions, there will first be pro-
Machines IV, A. I. E. E. Quarterly TRANS., Vol. 47, No. 2, duced in the armature windings two sets of balanced currents
April, 1928, p. 457, Discussion p. 487. each of which will produce 3 component flux distributions in the
6. Wieseman, R. W., Graphical Determination of Magnetic gap. The first of these is what would be produced if the air-
Fields; Practical Application to Salient-Pole Synchronous Machine gap were uniform, and is proportional to 1/2 (Xd + Xq - Xa),
Design, A. I. E. E. TRANS., Vol. XLVI, 1927, p. 141. where Xa equals the armature leakage reactance. The second
7. Doherty, R. E. and Nickle, C. A., Synchronous of these components is proportional to 1/2 (Xd - xq). The
Machines III, Torque-Angle Characteristics Under Transient third component is of the same size as the second. Using the
Conditions, A. I. E. E. TRANS., Vol. XLVI, 1927, p. 1. values that Mr. Park gives under Section H of his paper, the
8. Bekku, S., "Sudden Short Circuit of Alternator," relative magnitudes of these components would be (0.8 - xa)
Researches of the Electrotechnical Laboratory No. 203, June, and 0.2. The first and second components react on the field,
1927. and produce in it a current of the impressed field frequency.
9. Doherty, R. E. and Nickle, C. A., Synchronous These are the components that Mr. Park has recognized, but the
Machines I and II, An Extension of Blondel's Two-Reaction third component produces an entirely different frequency in the
Theory, A. I. E. E. TRANS., VOl. XLV, PP 912-47. field, which will then be reflected into the armature and the
10. Nickle, C. A., Oscillographic Solution of Electro- process will be repeated. That is, in this respect, it is similar
mechanical Systems, A. I. E. E. TRANS., VOl. XLIV, 1925, PP. to the condition that exists in a single-phase alternator. As far
844-856. as I am aware, the Heaviside operational method cannot be used
11. Dreyfus, L., "Ausgleichvorgange Beim Plotzlichen to obtain a rigorous solution for the single-phase alternator.
Kurzschluss von Synchron Generatoren," Archiv f. Electrotech., In spite of this, I think the objection that I have raised is of no
5 S103, 1916. more importance than the effect of neglecting saturation or